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<div class="title">color_handler.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">*  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">*  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">*  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">*  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">*   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">*     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">*   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">*     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">*     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">*  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef COLOR_HANDLER_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define COLOR_HANDLER_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/point_cloud_handlers.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">namespace </span>visualization</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html">   49</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html">PointCloudColorHandlerRGBHack</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler&lt;PointT&gt;::capable_</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler&lt;PointT&gt;::cloud_</a>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudColorHandler&lt;PointT&gt;::PointCloud::ConstPtr PointCloudConstPtr;                            </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;RGB&gt;::ConstPtr RgbCloudConstPtr;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloudColorHandlerRGBHack&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloudColorHandlerRGBHack&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html">PointCloudColorHandlerRGBHack</a> (<span class="keyword">const</span> PointCloudConstPtr&amp; cloud, <span class="keyword">const</span> RgbCloudConstPtr&amp; colors) : </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;          <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler&lt;PointT&gt;</a> (cloud), rgb_ (colors)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html#a1588cf203cc8eaaa131fdbae6c731f4a">   68</a></span>&#160;      <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html#a1588cf203cc8eaaa131fdbae6c731f4a">getColor</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> &amp;scalars)<span class="keyword"> const</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a>)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keywordflow">if</span> (!scalars)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          scalars = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        scalars-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        vtkIdType nr_points = (int)<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a>-&gt;points.size ();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetNumberOfTuples (nr_points);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* colors = <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;GetPointer (0);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordflow">if</span> (nr_points != (<span class="keywordtype">int</span>)rgb_-&gt;points.size ())</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          std::fill(colors, colors + nr_points * 3, (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>)0xFF);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            <span class="keywordtype">int</span> idx = cp * 3;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            colors[idx + 0] = rgb_-&gt;points[cp].r;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            colors[idx + 1] = rgb_-&gt;points[cp].g;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;            colors[idx + 2] = rgb_-&gt;points[cp].b;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html#a96406773e8775b1d82ad2f4a73012cfe">   96</a></span>&#160;      <span class="keyword">virtual</span> std::string <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html#a96406773e8775b1d82ad2f4a73012cfe">getFieldName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="stringliteral">&quot;rgb&quot;</span>); }    </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html#a1d5efacc7b2bd0624a4ae06ad05a59cc">   97</a></span>&#160;      <span class="keyword">virtual</span> <span class="keyword">inline</span> std::string <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html#a1d5efacc7b2bd0624a4ae06ad05a59cc">getName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="stringliteral">&quot;PointCloudColorHandlerRGBHack&quot;</span>); }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      RgbCloudConstPtr rgb_;    </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    };</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* COLOR_HANDLER_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">pcl::visualization::PointCloudColorHandler</a></div><div class="ttdoc">Base Handler class for PointCloud colors.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_a667ee20514feb3d83ea205d39a2efe5f"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">pcl::visualization::PointCloudColorHandler::capable_</a></div><div class="ttdeci">bool capable_</div><div class="ttdoc">True if this handler is capable of handling the input data, false otherwise.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_a792e2bb434adab01260cc3bfc5fd633f"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">pcl::visualization::PointCloudColorHandler::cloud_</a></div><div class="ttdeci">PointCloudConstPtr cloud_</div><div class="ttdoc">A pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html">pcl::visualization::PointCloudColorHandlerRGBHack</a></div><div class="ttdef"><b>Definition:</b> color_handler.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack_html_a1588cf203cc8eaaa131fdbae6c731f4a"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html#a1588cf203cc8eaaa131fdbae6c731f4a">pcl::visualization::PointCloudColorHandlerRGBHack::getColor</a></div><div class="ttdeci">virtual bool getColor(vtkSmartPointer&lt; vtkDataArray &gt; &amp;scalars) const</div><div class="ttdoc">Obtain the actual color for the input dataset as vtk scalars.</div><div class="ttdef"><b>Definition:</b> color_handler.h:68</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack_html_a1d5efacc7b2bd0624a4ae06ad05a59cc"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html#a1d5efacc7b2bd0624a4ae06ad05a59cc">pcl::visualization::PointCloudColorHandlerRGBHack::getName</a></div><div class="ttdeci">virtual std::string getName() const</div><div class="ttdoc">Abstract getName method.</div><div class="ttdef"><b>Definition:</b> color_handler.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack_html_a96406773e8775b1d82ad2f4a73012cfe"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_hack.html#a96406773e8775b1d82ad2f4a73012cfe">pcl::visualization::PointCloudColorHandlerRGBHack::getFieldName</a></div><div class="ttdeci">virtual std::string getFieldName() const</div><div class="ttdoc">Abstract getFieldName method.</div><div class="ttdef"><b>Definition:</b> color_handler.h:96</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer</a></div><div class="ttdef"><b>Definition:</b> actor_map.h:50</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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